[PlayerStage-Gazebo] Re: [Playerstage-users] Gripper let it slide

> From: Carle =?iso-8859-1?b?Q/R06Q==?= <Carle.Cote@...>
>
> Can you check if RayProximity sensor is compiled and works ok on your setup? If
> not, the gripper won't be able to detect objects between pads.
>
I am trying to get the gripper to work in gazebo and I checked that
RayProximity was compiled. But I do not seem to get the beam
obstruction sensor values. And when I look in Pionner2Gripper.cc the
relevant code seems to be commented away:
/* TODO
this->innerBreakbeam->SetRange( rayLength );
this->outerBreakbeam->SetRange( rayLength );
// rays collision detection
this->innerBreakbeam->Update( step );
this->outerBreakbeam->Update( step );
// Update rays status
this->inner_beam_obstruct = this->innerBreakbeam->FoundContact();
this->outer_beam_obstruct = this->outerBreakbeam->FoundContact();
*/
So is this functionality implemented somewhere else? And when I try
to grip a SimpleSolid the behaviour is rather wrong (the robot turns
over or the gripper breaks...).
/Tommy Persson

Thread view

> From: Carle =?iso-8859-1?b?Q/R06Q==?= <Carle.Cote@...>
>
> Can you check if RayProximity sensor is compiled and works ok on your setup? If
> not, the gripper won't be able to detect objects between pads.
>
I am trying to get the gripper to work in gazebo and I checked that
RayProximity was compiled. But I do not seem to get the beam
obstruction sensor values. And when I look in Pionner2Gripper.cc the
relevant code seems to be commented away:
/* TODO
this->innerBreakbeam->SetRange( rayLength );
this->outerBreakbeam->SetRange( rayLength );
// rays collision detection
this->innerBreakbeam->Update( step );
this->outerBreakbeam->Update( step );
// Update rays status
this->inner_beam_obstruct = this->innerBreakbeam->FoundContact();
this->outer_beam_obstruct = this->outerBreakbeam->FoundContact();
*/
So is this functionality implemented somewhere else? And when I try
to grip a SimpleSolid the behaviour is rather wrong (the robot turns
over or the gripper breaks...).
/Tommy Persson